\hypertarget{group__tables}{
\section{\-System tables}
\label{group__tables}\index{\-System tables@{\-System tables}}
}


\-This group contain table of system definitions.  


\subsection*{\-Data \-Structures}
\begin{DoxyCompactItemize}
\item 
struct \hyperlink{structcommand__structure}{command\-\_\-structure}
\item 
struct \hyperlink{structproc__func__info}{proc\-\_\-func\-\_\-info}
\item 
struct \hyperlink{structstate__t__info}{state\-\_\-t\-\_\-info}
\end{DoxyCompactItemize}
\subsection*{\-Defines}
\begin{DoxyCompactItemize}
\item 
\#define \hyperlink{group__tables_gac644d2e05254dadd0b19a93c12c0afd9}{\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R}~0x04
\item 
\#define \hyperlink{group__tables_ga88f8e60882c5d69d913d1b616687465d}{\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T}~0x05
\item 
\#define \hyperlink{group__tables_gaec182aad2e49484d086d38c7ed1f9fe4}{\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N}~0x06
\item 
\#define \hyperlink{group__tables_ga72e2455cf02251f80606a36183764cd1}{\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E}~0x07
\item 
\#define \hyperlink{group__tables_ga2ea883c0ff4e6a5d37f32290ab3524b7}{\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R}~0x08
\item 
\#define \hyperlink{group__tables_ga7d004ff741f1e7caad510eaa0a548fc1}{\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E}~0x09
\item 
\#define \hyperlink{group__tables_ga5f00f42fc2574820abde7c7dd797a036}{\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}~0x10
\item 
\#define \hyperlink{group__tables_ga8b4361d794c38610770d0078d5a581f3}{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}~0x11
\item 
\#define \hyperlink{group__tables_gaeadb9947c80d097da4413c55179afe6f}{\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T}~0x\-F\-F
\item 
\#define \hyperlink{group__tables_gaafd3e23709eecfd5bfdc358f8a07b991}{\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D}~0x01
\item 
\#define \hyperlink{group__tables_ga6b3256a3e116aaefe13352f9b493c279}{\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D}~0x02
\item 
\#define \hyperlink{group__tables_gae1fc29b0358f36a68b7ba9bde85e16fd}{\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D}~0x03
\item 
\#define \hyperlink{group__tables_gae04e393e8b250dad55fddb546ef61111}{\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D}~0x11
\item 
\#define \hyperlink{group__tables_ga4bae6e7de487043575d61cb52dff4cf3}{\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D}~0x12
\item 
\#define \hyperlink{group__tables_ga1e61a3b04f0d9e2a1393e85a047a24ab}{\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D}~0x03
\item 
\#define \hyperlink{group__tables_gadc587c273985fd12fc0553141c5f9693}{\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D}~0x04
\item 
\#define \hyperlink{group__tables_gacc410e7c7f1185c5dd50ac503dccabbe}{\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D}~0x05
\item 
\#define \hyperlink{group__tables_ga1c2e91b10f17814f52bf09f647909d83}{\-Z\-U\-P\-T\-\_\-\-S\-I\-D}~0x32
\item 
\#define \hyperlink{group__tables_gad5186a188194306bbc87ddddc7644ddd}{\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D}~0x33
\item 
\#define \hyperlink{group__tables_gad0a37f572243f76ea1f2b79fc14b2a30}{\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D}~0x34
\item 
\#define \hyperlink{group__tables_gaf0c693bf22229a5eba03b2bad37b07bf}{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D}~0x35
\end{DoxyCompactItemize}
\subsection*{\-Functions}
\begin{DoxyCompactItemize}
\item 
void \hyperlink{group__tables_ga0c546b02615dc75cdf2385651cc823ce}{retransmit\-\_\-header} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga63c90fa711213e6746dc061226580e1a}{retransmit\-\_\-command\-\_\-info} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga154e99940eadddeab0a978ebaaf4af29}{output\-\_\-state} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_gaf49fcc59b85d00300cceac3381af50ac}{turn\-\_\-off\-\_\-output} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga144f167d203bfaa934388244862c2e66}{get\-\_\-mcu\-\_\-serial} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga18b9c076238f0421e0c613aba24c1e96}{toggle\-\_\-inertial\-\_\-output} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_gade63f6b7485456459a562107079a76a8}{position\-\_\-plus\-\_\-zupt} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga73d5a4fdd7dbdf0707007e03b69dd7aa}{output\-\_\-navigational\-\_\-states} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga2f8eeda3ee360ccf29e05fbfda016f47}{processing\-\_\-onoff} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_gae59981ff1a5486c063329824f812d6ef}{reset\-\_\-zupt\-\_\-aided\-\_\-ins} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga208e711393802848a2f84f913ef3cb84}{gyro\-\_\-self\-\_\-calibration} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_ga29fdeaec38ab911e7c4a5ffd19dc178d}{acc\-\_\-calibration} (uint8\-\_\-t $\ast$$\ast$)
\item 
void \hyperlink{group__tables_gaae1bbd924940610e1709300d40ca5a0f}{update\-\_\-imu\-\_\-data\-\_\-buffers} (void)
\item 
void \hyperlink{group__tables_ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77}{initialize\-\_\-navigation\-\_\-algorithm} (void)
\item 
void \hyperlink{group__tables_ga9169808fbcb9f517deb908960a69ca7a}{strapdown\-\_\-mechanisation\-\_\-equations} (void)
\item 
void \hyperlink{group__tables_gac80ad2aa648edb47edb8f62883cb2a7d}{time\-\_\-up\-\_\-data} (void)
\item 
void \hyperlink{group__tables_gaf0b7424f50d37755b6b0736808082299}{\-Z\-U\-P\-T\-\_\-detector} (void)
\item 
void \hyperlink{group__tables_ga0b4ee34435eebb426eb367120ee79d72}{zupt\-\_\-update} (void)
\item 
void \hyperlink{group__tables_ga71833d5eb4e7c71baaaa9e707a6c1f8d}{precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration} (void)
\item 
void \hyperlink{group__tables_gabb3f28a44a35898c77d789734914c4c2}{calibrate\-\_\-accelerometers} (void)
\end{DoxyCompactItemize}
\subsection*{\-Variables}
\begin{DoxyCompactItemize}
\item 
uint8\-\_\-t \hyperlink{group__tables_ga133713acbe60983f171f71e2d81fae3f}{proc\-\_\-func\-\_\-info\-::id}
\item 
void($\ast$ \hyperlink{group__tables_gab0d228e3d6f56666fb9d9bf0f25f8d7b}{proc\-\_\-func\-\_\-info\-::func\-\_\-p} )(void)
\item 
int \hyperlink{group__tables_ga128ad5d7538eef603b5f0dab9c42174b}{proc\-\_\-func\-\_\-info\-::max\-\_\-proc\-\_\-time}
\item 
const \hyperlink{structproc__func__info}{proc\-\_\-func\-\_\-info} $\ast$ \hyperlink{group__tables_ga41846acfd74bdde84b592227e9875931}{processing\-\_\-functions} \mbox{[}$\,$\mbox{]}
\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga2807b9fb4b79e01dfde022b613d2575f}{position}
\begin{DoxyCompactList}\small\item\em \-Position estimate (\-North,\-East,\-Down) \mbox{[} $m$\mbox{]}. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}{velocity}
\begin{DoxyCompactList}\small\item\em \-Velocity estimate (\-North,\-East,\-Down) \mbox{[} $m/s$\mbox{]}. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_gaf92cab44915b7d9faaf5aeadb328bae6}{accelerations\-\_\-in}
\begin{DoxyCompactList}\small\item\em $[m/s^2]$ \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}{angular\-\_\-rates\-\_\-in}
\begin{DoxyCompactList}\small\item\em $[rad/s]$ \end{DoxyCompactList}\item 
int \hyperlink{group__tables_ga1c7df51cd44a9862d56e5a86a7382fe2}{window\-\_\-size}
\item 
int \hyperlink{group__tables_ga20193da701b182264e8b7bf63293c0f9}{time\-\_\-since\-\_\-last\-\_\-zupt}
\item 
uint32\-\_\-t \hyperlink{group__tables_ga69242006691a47df6ea85e8cc45ccc43}{process\-\_\-cycle\-\_\-counter}
\item 
\hyperlink{nav__types_8h_ad9a64f455fa02affaba6740746aae7b2}{quat\-\_\-vec} \hyperlink{group__tables_ga059b83d370e7e6a5e9728a8f91943051}{quaternions}
\begin{DoxyCompactList}\small\item\em \-Attitude (quaternions) estimate. \end{DoxyCompactList}\item 
bool \hyperlink{group__tables_gabd51dc1d49060099533807a22acc61d4}{zupt}
\begin{DoxyCompactList}\small\item\em \-Flag that is set to true if a zero-\/velocity update should be done. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_gacd438fa96131e9024d8ad206d83ffb66}{imu\-\_\-temperaturs}
\begin{DoxyCompactList}\small\item\em $[^circ C]$ \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a37e1884b1f06826c49607cec459b4e8a}{precision} \hyperlink{group__tables_ga3f561003deb253bcc716a6c690c87cfe}{imu\-\_\-supply\-\_\-voltage}
\begin{DoxyCompactList}\small\item\em $[V]$ \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga1089eea940f41eff26a6cba1172089e9}{accelerometer\-\_\-biases}
\begin{DoxyCompactList}\small\item\em \-Accelerometer biases (x,y,z-\/axis) \mbox{[} $m/s^2$\mbox{]}. \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{\-I\-M\-U output variables}
\label{_amgrpbcd3569385d38499cae6e78a31cdccc1}%
 \-Global variable used for making sensor readings available to other parts of the program. \-The variables will contain the latest read out sensor readings. \-The values are scaled to \-S\-I units apart from the temperature which is in $^circ C$. \-Angels are given in radians. \begin{DoxyCompactItemize}
\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}{angular\-\_\-rates\-\_\-in}
\begin{DoxyCompactList}\small\item\em $[rad/s]$ \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_gacd438fa96131e9024d8ad206d83ffb66}{imu\-\_\-temperaturs}
\begin{DoxyCompactList}\small\item\em $[^circ C]$ \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a37e1884b1f06826c49607cec459b4e8a}{precision} \hyperlink{group__tables_ga3f561003deb253bcc716a6c690c87cfe}{imu\-\_\-supply\-\_\-voltage}
\begin{DoxyCompactList}\small\item\em $[V]$ \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{\-Accelerometer calibration parameters.}
\label{_amgrp498a39b5e61b8b18fd67982a4b1746b8}%
 \-Parameters controlling accelerometer calibration, and vectors and matrices used store the biases. \begin{DoxyCompactItemize}
\item 
\hyperlink{nav__types_8h_a37e1884b1f06826c49607cec459b4e8a}{precision} \hyperlink{group__tables_gad5049be4d6ed3b9f92063c6ca6413b46}{acceleration\-\_\-variance\-\_\-threshold} = 0.\-002
\begin{DoxyCompactList}\small\item\em \-Threshold used to check that accelerometers were stationary during the calibration \mbox{[} $(m/s^2)^2$\mbox{]}. \end{DoxyCompactList}\item 
uint32\-\_\-t \hyperlink{group__tables_gab9d05ce5927a225127eff6993856da19}{nr\-\_\-of\-\_\-calibration\-\_\-samples} = 800
\begin{DoxyCompactList}\small\item\em \-Number of samples used at each orientation in the calibration procedure. \end{DoxyCompactList}\item 
uint8\-\_\-t \hyperlink{group__tables_ga642a3ad33a0242f4e12fe46a13b0303f}{nr\-\_\-of\-\_\-calibration\-\_\-orientations} = 6
\begin{DoxyCompactList}\small\item\em \-Number of orientations used in the accelerometer calibration procedure. \-O\-B\-S! \-Most be at least 3 and less than 13. \end{DoxyCompactList}\item 
\-Bool \hyperlink{group__tables_ga9340627920ea2445fe1469547bc64eae}{new\-\_\-orientation\-\_\-flag} = false
\begin{DoxyCompactList}\small\item\em \-Flag that is set to true when the \-I\-M\-U should be place in a new orientation. \-Should be set to false when the calibration procedure is started, and when the \-I\-M\-U has been placed in a new orientation by the user. \end{DoxyCompactList}\item 
\-Bool \hyperlink{group__tables_gaa3b35b0b909a9a4b40d82658fab54349}{acc\-\_\-calibration\-\_\-finished\-\_\-flag} = false
\begin{DoxyCompactList}\small\item\em \-Flag that is set to true when the calibration is finished. \-Must be set to false before the calibration is started. \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{\-Navigation and filter state variables.}
\label{_amgrp0f8fa76f99fe991372a251de33492bc0}%
 \-Vectors that holds the current navigation state estimate and the covariance and gain of the \-Kalman filter. \begin{DoxyCompactItemize}
\item 
\hyperlink{nav__types_8h_a90c683614d896321009d3b3c401b764f}{vec3} \hyperlink{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}{velocity}
\begin{DoxyCompactList}\small\item\em \-Velocity estimate (\-North,\-East,\-Down) \mbox{[} $m/s$\mbox{]}. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_ad9a64f455fa02affaba6740746aae7b2}{quat\-\_\-vec} \hyperlink{group__tables_ga059b83d370e7e6a5e9728a8f91943051}{quaternions}
\begin{DoxyCompactList}\small\item\em \-Attitude (quaternions) estimate. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_ab7675278cb555aa98b43c97694753329}{mat3} \hyperlink{group__tables_ga42753cbc9ae76483da3cbc331a011586}{\-Rb2t}
\begin{DoxyCompactList}\small\item\em \-Rotation matrix used as an \char`\"{}aiding\char`\"{} variable in the filter algorithm. \-Holds the same information as the quaternions. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_a0f4089eb3ad75e0675d7f7d3914fddeb}{mat9sym} \hyperlink{group__tables_ga74c09cdfc5b901e7f842dbe42ed8f4f4}{cov\-\_\-vector}
\begin{DoxyCompactList}\small\item\em \-Vector representation of the \-Kalman filter covariance matrix. \end{DoxyCompactList}\item 
\hyperlink{nav__types_8h_af1d09a15760e21f5de26f0839f1b6c62}{mat9by3} \hyperlink{group__tables_gac1df051c6f380aa8d1598b15ee9e6eca}{kalman\-\_\-gain}
\begin{DoxyCompactList}\small\item\em \-Vector representation of the \-Kalman filter gain matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{\-Detailed \-Description}
\-This group contain table of system definitions. 

\subsection{\-Define \-Documentation}
\hypertarget{group__tables_gaf0c693bf22229a5eba03b2bad37b07bf}{
\index{\-System tables@{\-System tables}!\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D@{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D}}
\index{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D@{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-B\-I\-A\-S\-E\-S\-\_\-\-S\-I\-D~0x35}}
\label{group__tables_gaf0c693bf22229a5eba03b2bad37b07bf}
\hypertarget{group__tables_ga8b4361d794c38610770d0078d5a581f3}{
\index{\-System tables@{\-System tables}!\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N@{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}}
\index{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N@{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}!System tables@{\-System tables}}
\subsubsection[{\-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-A\-C\-C\-E\-L\-E\-R\-O\-M\-E\-T\-E\-R\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N~0x11}}
\label{group__tables_ga8b4361d794c38610770d0078d5a581f3}
\hypertarget{group__tables_ga4bae6e7de487043575d61cb52dff4cf3}{
\index{\-System tables@{\-System tables}!\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D@{\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D}}
\index{\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D@{\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-A\-N\-G\-U\-L\-A\-R\-\_\-\-R\-A\-T\-E\-\_\-\-S\-I\-D~0x12}}
\label{group__tables_ga4bae6e7de487043575d61cb52dff4cf3}
\hypertarget{group__tables_ga5f00f42fc2574820abde7c7dd797a036}{
\index{\-System tables@{\-System tables}!\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N@{\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}}
\index{\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N@{\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}!System tables@{\-System tables}}
\subsubsection[{\-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-G\-Y\-R\-O\-\_\-\-C\-A\-L\-I\-B\-R\-A\-T\-I\-O\-N~0x10}}
\label{group__tables_ga5f00f42fc2574820abde7c7dd797a036}
\hypertarget{group__tables_gad0a37f572243f76ea1f2b79fc14b2a30}{
\index{\-System tables@{\-System tables}!\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D@{\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D}}
\index{\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D@{\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-I\-M\-U\-\_\-\-S\-U\-P\-P\-L\-Y\-\_\-\-V\-O\-L\-T\-A\-G\-E\-\_\-\-S\-I\-D~0x34}}
\label{group__tables_gad0a37f572243f76ea1f2b79fc14b2a30}
\hypertarget{group__tables_gad5186a188194306bbc87ddddc7644ddd}{
\index{\-System tables@{\-System tables}!\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D@{\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D}}
\index{\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D@{\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-I\-M\-U\-\_\-\-T\-E\-M\-P\-E\-R\-A\-T\-U\-R\-S\-\_\-\-S\-I\-D~0x33}}
\label{group__tables_gad5186a188194306bbc87ddddc7644ddd}
\hypertarget{group__tables_ga88f8e60882c5d69d913d1b616687465d}{
\index{\-System tables@{\-System tables}!\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T@{\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T}}
\index{\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T@{\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T}!System tables@{\-System tables}}
\subsubsection[{\-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-I\-N\-I\-T\-I\-A\-L\-\_\-\-A\-L\-I\-G\-N\-M\-E\-N\-T~0x05}}
\label{group__tables_ga88f8e60882c5d69d913d1b616687465d}
\hypertarget{group__tables_gaec182aad2e49484d086d38c7ed1f9fe4}{
\index{\-System tables@{\-System tables}!\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N@{\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N}}
\index{\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N@{\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N}!System tables@{\-System tables}}
\subsubsection[{\-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-M\-E\-C\-H\-A\-N\-I\-Z\-A\-T\-I\-O\-N~0x06}}
\label{group__tables_gaec182aad2e49484d086d38c7ed1f9fe4}
\hypertarget{group__tables_gaafd3e23709eecfd5bfdc358f8a07b991}{
\index{\-System tables@{\-System tables}!\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D@{\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D}}
\index{\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D@{\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-P\-O\-S\-I\-T\-I\-O\-N\-\_\-\-S\-I\-D~0x01}}
\label{group__tables_gaafd3e23709eecfd5bfdc358f8a07b991}
\hypertarget{group__tables_gacc410e7c7f1185c5dd50ac503dccabbe}{
\index{\-System tables@{\-System tables}!\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D@{\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D}}
\index{\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D@{\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-P\-R\-O\-C\-E\-S\-S\-\_\-\-C\-Y\-C\-L\-E\-\_\-\-C\-O\-U\-N\-T\-E\-R\-\_\-\-S\-I\-D~0x05}}
\label{group__tables_gacc410e7c7f1185c5dd50ac503dccabbe}
\hypertarget{group__tables_gae1fc29b0358f36a68b7ba9bde85e16fd}{
\index{\-System tables@{\-System tables}!\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D@{\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D}}
\index{\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D@{\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-Q\-U\-A\-T\-E\-R\-N\-I\-O\-N\-\_\-\-S\-I\-D~0x03}}
\label{group__tables_gae1fc29b0358f36a68b7ba9bde85e16fd}
\hypertarget{group__tables_gaeadb9947c80d097da4413c55179afe6f}{
\index{\-System tables@{\-System tables}!\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T@{\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T}}
\index{\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T@{\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T}!System tables@{\-System tables}}
\subsubsection[{\-S\-I\-D\-\_\-\-L\-I\-M\-I\-T}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-S\-I\-D\-\_\-\-L\-I\-M\-I\-T~0x\-F\-F}}
\label{group__tables_gaeadb9947c80d097da4413c55179afe6f}
\hypertarget{group__tables_gae04e393e8b250dad55fddb546ef61111}{
\index{\-System tables@{\-System tables}!\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D@{\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D}}
\index{\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D@{\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-S\-P\-E\-C\-I\-F\-I\-C\-\_\-\-F\-O\-R\-C\-E\-\_\-\-S\-I\-D~0x11}}
\label{group__tables_gae04e393e8b250dad55fddb546ef61111}
\hypertarget{group__tables_gadc587c273985fd12fc0553141c5f9693}{
\index{\-System tables@{\-System tables}!\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D@{\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D}}
\index{\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D@{\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-T\-I\-M\-E\-\_\-\-S\-I\-N\-C\-E\-\_\-\-L\-A\-S\-T\-\_\-\-Z\-U\-P\-T\-\_\-\-S\-I\-D~0x04}}
\label{group__tables_gadc587c273985fd12fc0553141c5f9693}
\hypertarget{group__tables_ga72e2455cf02251f80606a36183764cd1}{
\index{\-System tables@{\-System tables}!\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E@{\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E}}
\index{\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E@{\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E}!System tables@{\-System tables}}
\subsubsection[{\-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-T\-I\-M\-E\-\_\-\-U\-P\-D\-A\-T\-E~0x07}}
\label{group__tables_ga72e2455cf02251f80606a36183764cd1}
\hypertarget{group__tables_gac644d2e05254dadd0b19a93c12c0afd9}{
\index{\-System tables@{\-System tables}!\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R@{\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R}}
\index{\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R@{\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R}!System tables@{\-System tables}}
\subsubsection[{\-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-U\-P\-D\-A\-T\-E\-\_\-\-B\-U\-F\-F\-E\-R~0x04}}
\label{group__tables_gac644d2e05254dadd0b19a93c12c0afd9}
\hypertarget{group__tables_ga6b3256a3e116aaefe13352f9b493c279}{
\index{\-System tables@{\-System tables}!\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D@{\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D}}
\index{\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D@{\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-V\-E\-L\-O\-C\-I\-T\-Y\-\_\-\-S\-I\-D~0x02}}
\label{group__tables_ga6b3256a3e116aaefe13352f9b493c279}
\hypertarget{group__tables_ga1e61a3b04f0d9e2a1393e85a047a24ab}{
\index{\-System tables@{\-System tables}!\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D@{\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D}}
\index{\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D@{\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-W\-I\-N\-D\-O\-W\-\_\-\-S\-I\-Z\-E\-\_\-\-P\-I\-D~0x03}}
\label{group__tables_ga1e61a3b04f0d9e2a1393e85a047a24ab}
\hypertarget{group__tables_ga2ea883c0ff4e6a5d37f32290ab3524b7}{
\index{\-System tables@{\-System tables}!\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R@{\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R}}
\index{\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R@{\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R}!System tables@{\-System tables}}
\subsubsection[{\-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-Z\-U\-P\-T\-\_\-\-D\-E\-T\-E\-C\-T\-O\-R~0x08}}
\label{group__tables_ga2ea883c0ff4e6a5d37f32290ab3524b7}
\hypertarget{group__tables_ga1c2e91b10f17814f52bf09f647909d83}{
\index{\-System tables@{\-System tables}!\-Z\-U\-P\-T\-\_\-\-S\-I\-D@{\-Z\-U\-P\-T\-\_\-\-S\-I\-D}}
\index{\-Z\-U\-P\-T\-\_\-\-S\-I\-D@{\-Z\-U\-P\-T\-\_\-\-S\-I\-D}!System tables@{\-System tables}}
\subsubsection[{\-Z\-U\-P\-T\-\_\-\-S\-I\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-Z\-U\-P\-T\-\_\-\-S\-I\-D~0x32}}
\label{group__tables_ga1c2e91b10f17814f52bf09f647909d83}
\hypertarget{group__tables_ga7d004ff741f1e7caad510eaa0a548fc1}{
\index{\-System tables@{\-System tables}!\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E@{\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E}}
\index{\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E@{\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E}!System tables@{\-System tables}}
\subsubsection[{\-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E}]{\setlength{\rightskip}{0pt plus 5cm}\#define \-Z\-U\-P\-T\-\_\-\-U\-P\-D\-A\-T\-E~0x09}}
\label{group__tables_ga7d004ff741f1e7caad510eaa0a548fc1}


\subsection{\-Function \-Documentation}
\hypertarget{group__tables_ga29fdeaec38ab911e7c4a5ffd19dc178d}{
\index{\-System tables@{\-System tables}!acc\-\_\-calibration@{acc\-\_\-calibration}}
\index{acc\-\_\-calibration@{acc\-\_\-calibration}!System tables@{\-System tables}}
\subsubsection[{acc\-\_\-calibration}]{\setlength{\rightskip}{0pt plus 5cm}void acc\-\_\-calibration (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga29fdeaec38ab911e7c4a5ffd19dc178d}
\hypertarget{group__tables_gabb3f28a44a35898c77d789734914c4c2}{
\index{\-System tables@{\-System tables}!calibrate\-\_\-accelerometers@{calibrate\-\_\-accelerometers}}
\index{calibrate\-\_\-accelerometers@{calibrate\-\_\-accelerometers}!System tables@{\-System tables}}
\subsubsection[{calibrate\-\_\-accelerometers}]{\setlength{\rightskip}{0pt plus 5cm}void calibrate\-\_\-accelerometers (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gabb3f28a44a35898c77d789734914c4c2}
\hypertarget{group__tables_ga144f167d203bfaa934388244862c2e66}{
\index{\-System tables@{\-System tables}!get\-\_\-mcu\-\_\-serial@{get\-\_\-mcu\-\_\-serial}}
\index{get\-\_\-mcu\-\_\-serial@{get\-\_\-mcu\-\_\-serial}!System tables@{\-System tables}}
\subsubsection[{get\-\_\-mcu\-\_\-serial}]{\setlength{\rightskip}{0pt plus 5cm}void get\-\_\-mcu\-\_\-serial (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga144f167d203bfaa934388244862c2e66}
\hypertarget{group__tables_ga208e711393802848a2f84f913ef3cb84}{
\index{\-System tables@{\-System tables}!gyro\-\_\-self\-\_\-calibration@{gyro\-\_\-self\-\_\-calibration}}
\index{gyro\-\_\-self\-\_\-calibration@{gyro\-\_\-self\-\_\-calibration}!System tables@{\-System tables}}
\subsubsection[{gyro\-\_\-self\-\_\-calibration}]{\setlength{\rightskip}{0pt plus 5cm}void gyro\-\_\-self\-\_\-calibration (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga208e711393802848a2f84f913ef3cb84}
\hypertarget{group__tables_ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77}{
\index{\-System tables@{\-System tables}!initialize\-\_\-navigation\-\_\-algorithm@{initialize\-\_\-navigation\-\_\-algorithm}}
\index{initialize\-\_\-navigation\-\_\-algorithm@{initialize\-\_\-navigation\-\_\-algorithm}!System tables@{\-System tables}}
\subsubsection[{initialize\-\_\-navigation\-\_\-algorithm}]{\setlength{\rightskip}{0pt plus 5cm}void initialize\-\_\-navigation\-\_\-algorithm (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77}
\hypertarget{group__tables_ga73d5a4fdd7dbdf0707007e03b69dd7aa}{
\index{\-System tables@{\-System tables}!output\-\_\-navigational\-\_\-states@{output\-\_\-navigational\-\_\-states}}
\index{output\-\_\-navigational\-\_\-states@{output\-\_\-navigational\-\_\-states}!System tables@{\-System tables}}
\subsubsection[{output\-\_\-navigational\-\_\-states}]{\setlength{\rightskip}{0pt plus 5cm}void output\-\_\-navigational\-\_\-states (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga73d5a4fdd7dbdf0707007e03b69dd7aa}
\hypertarget{group__tables_ga154e99940eadddeab0a978ebaaf4af29}{
\index{\-System tables@{\-System tables}!output\-\_\-state@{output\-\_\-state}}
\index{output\-\_\-state@{output\-\_\-state}!System tables@{\-System tables}}
\subsubsection[{output\-\_\-state}]{\setlength{\rightskip}{0pt plus 5cm}void output\-\_\-state (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga154e99940eadddeab0a978ebaaf4af29}
\hypertarget{group__tables_gade63f6b7485456459a562107079a76a8}{
\index{\-System tables@{\-System tables}!position\-\_\-plus\-\_\-zupt@{position\-\_\-plus\-\_\-zupt}}
\index{position\-\_\-plus\-\_\-zupt@{position\-\_\-plus\-\_\-zupt}!System tables@{\-System tables}}
\subsubsection[{position\-\_\-plus\-\_\-zupt}]{\setlength{\rightskip}{0pt plus 5cm}void position\-\_\-plus\-\_\-zupt (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gade63f6b7485456459a562107079a76a8}
\hypertarget{group__tables_ga71833d5eb4e7c71baaaa9e707a6c1f8d}{
\index{\-System tables@{\-System tables}!precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration@{precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration}}
\index{precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration@{precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration}!System tables@{\-System tables}}
\subsubsection[{precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration}]{\setlength{\rightskip}{0pt plus 5cm}void precision\-\_\-gyro\-\_\-bias\-\_\-null\-\_\-calibration (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga71833d5eb4e7c71baaaa9e707a6c1f8d}
\hypertarget{group__tables_ga2f8eeda3ee360ccf29e05fbfda016f47}{
\index{\-System tables@{\-System tables}!processing\-\_\-onoff@{processing\-\_\-onoff}}
\index{processing\-\_\-onoff@{processing\-\_\-onoff}!System tables@{\-System tables}}
\subsubsection[{processing\-\_\-onoff}]{\setlength{\rightskip}{0pt plus 5cm}void processing\-\_\-onoff (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga2f8eeda3ee360ccf29e05fbfda016f47}
\hypertarget{group__tables_gae59981ff1a5486c063329824f812d6ef}{
\index{\-System tables@{\-System tables}!reset\-\_\-zupt\-\_\-aided\-\_\-ins@{reset\-\_\-zupt\-\_\-aided\-\_\-ins}}
\index{reset\-\_\-zupt\-\_\-aided\-\_\-ins@{reset\-\_\-zupt\-\_\-aided\-\_\-ins}!System tables@{\-System tables}}
\subsubsection[{reset\-\_\-zupt\-\_\-aided\-\_\-ins}]{\setlength{\rightskip}{0pt plus 5cm}void reset\-\_\-zupt\-\_\-aided\-\_\-ins (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gae59981ff1a5486c063329824f812d6ef}
\hypertarget{group__tables_ga63c90fa711213e6746dc061226580e1a}{
\index{\-System tables@{\-System tables}!retransmit\-\_\-command\-\_\-info@{retransmit\-\_\-command\-\_\-info}}
\index{retransmit\-\_\-command\-\_\-info@{retransmit\-\_\-command\-\_\-info}!System tables@{\-System tables}}
\subsubsection[{retransmit\-\_\-command\-\_\-info}]{\setlength{\rightskip}{0pt plus 5cm}void retransmit\-\_\-command\-\_\-info (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga63c90fa711213e6746dc061226580e1a}
\hypertarget{group__tables_ga0c546b02615dc75cdf2385651cc823ce}{
\index{\-System tables@{\-System tables}!retransmit\-\_\-header@{retransmit\-\_\-header}}
\index{retransmit\-\_\-header@{retransmit\-\_\-header}!System tables@{\-System tables}}
\subsubsection[{retransmit\-\_\-header}]{\setlength{\rightskip}{0pt plus 5cm}void retransmit\-\_\-header (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga0c546b02615dc75cdf2385651cc823ce}
\hypertarget{group__tables_ga9169808fbcb9f517deb908960a69ca7a}{
\index{\-System tables@{\-System tables}!strapdown\-\_\-mechanisation\-\_\-equations@{strapdown\-\_\-mechanisation\-\_\-equations}}
\index{strapdown\-\_\-mechanisation\-\_\-equations@{strapdown\-\_\-mechanisation\-\_\-equations}!System tables@{\-System tables}}
\subsubsection[{strapdown\-\_\-mechanisation\-\_\-equations}]{\setlength{\rightskip}{0pt plus 5cm}void strapdown\-\_\-mechanisation\-\_\-equations (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga9169808fbcb9f517deb908960a69ca7a}
\hypertarget{group__tables_gac80ad2aa648edb47edb8f62883cb2a7d}{
\index{\-System tables@{\-System tables}!time\-\_\-up\-\_\-data@{time\-\_\-up\-\_\-data}}
\index{time\-\_\-up\-\_\-data@{time\-\_\-up\-\_\-data}!System tables@{\-System tables}}
\subsubsection[{time\-\_\-up\-\_\-data}]{\setlength{\rightskip}{0pt plus 5cm}void time\-\_\-up\-\_\-data (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gac80ad2aa648edb47edb8f62883cb2a7d}
\hypertarget{group__tables_ga18b9c076238f0421e0c613aba24c1e96}{
\index{\-System tables@{\-System tables}!toggle\-\_\-inertial\-\_\-output@{toggle\-\_\-inertial\-\_\-output}}
\index{toggle\-\_\-inertial\-\_\-output@{toggle\-\_\-inertial\-\_\-output}!System tables@{\-System tables}}
\subsubsection[{toggle\-\_\-inertial\-\_\-output}]{\setlength{\rightskip}{0pt plus 5cm}void toggle\-\_\-inertial\-\_\-output (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga18b9c076238f0421e0c613aba24c1e96}
\hypertarget{group__tables_gaf49fcc59b85d00300cceac3381af50ac}{
\index{\-System tables@{\-System tables}!turn\-\_\-off\-\_\-output@{turn\-\_\-off\-\_\-output}}
\index{turn\-\_\-off\-\_\-output@{turn\-\_\-off\-\_\-output}!System tables@{\-System tables}}
\subsubsection[{turn\-\_\-off\-\_\-output}]{\setlength{\rightskip}{0pt plus 5cm}void turn\-\_\-off\-\_\-output (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$$\ast$}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gaf49fcc59b85d00300cceac3381af50ac}
\hypertarget{group__tables_gaae1bbd924940610e1709300d40ca5a0f}{
\index{\-System tables@{\-System tables}!update\-\_\-imu\-\_\-data\-\_\-buffers@{update\-\_\-imu\-\_\-data\-\_\-buffers}}
\index{update\-\_\-imu\-\_\-data\-\_\-buffers@{update\-\_\-imu\-\_\-data\-\_\-buffers}!System tables@{\-System tables}}
\subsubsection[{update\-\_\-imu\-\_\-data\-\_\-buffers}]{\setlength{\rightskip}{0pt plus 5cm}void update\-\_\-imu\-\_\-data\-\_\-buffers (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gaae1bbd924940610e1709300d40ca5a0f}
\hypertarget{group__tables_gaf0b7424f50d37755b6b0736808082299}{
\index{\-System tables@{\-System tables}!\-Z\-U\-P\-T\-\_\-detector@{\-Z\-U\-P\-T\-\_\-detector}}
\index{\-Z\-U\-P\-T\-\_\-detector@{\-Z\-U\-P\-T\-\_\-detector}!System tables@{\-System tables}}
\subsubsection[{\-Z\-U\-P\-T\-\_\-detector}]{\setlength{\rightskip}{0pt plus 5cm}void \-Z\-U\-P\-T\-\_\-detector (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_gaf0b7424f50d37755b6b0736808082299}
\hypertarget{group__tables_ga0b4ee34435eebb426eb367120ee79d72}{
\index{\-System tables@{\-System tables}!zupt\-\_\-update@{zupt\-\_\-update}}
\index{zupt\-\_\-update@{zupt\-\_\-update}!System tables@{\-System tables}}
\subsubsection[{zupt\-\_\-update}]{\setlength{\rightskip}{0pt plus 5cm}void zupt\-\_\-update (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}
\label{group__tables_ga0b4ee34435eebb426eb367120ee79d72}


\subsection{\-Variable \-Documentation}
\hypertarget{group__tables_gaa3b35b0b909a9a4b40d82658fab54349}{
\index{\-System tables@{\-System tables}!acc\-\_\-calibration\-\_\-finished\-\_\-flag@{acc\-\_\-calibration\-\_\-finished\-\_\-flag}}
\index{acc\-\_\-calibration\-\_\-finished\-\_\-flag@{acc\-\_\-calibration\-\_\-finished\-\_\-flag}!System tables@{\-System tables}}
\subsubsection[{acc\-\_\-calibration\-\_\-finished\-\_\-flag}]{\setlength{\rightskip}{0pt plus 5cm}\-Bool {\bf acc\-\_\-calibration\-\_\-finished\-\_\-flag} = false}}
\label{group__tables_gaa3b35b0b909a9a4b40d82658fab54349}


\-Flag that is set to true when the calibration is finished. \-Must be set to false before the calibration is started. 

\hypertarget{group__tables_gad5049be4d6ed3b9f92063c6ca6413b46}{
\index{\-System tables@{\-System tables}!acceleration\-\_\-variance\-\_\-threshold@{acceleration\-\_\-variance\-\_\-threshold}}
\index{acceleration\-\_\-variance\-\_\-threshold@{acceleration\-\_\-variance\-\_\-threshold}!System tables@{\-System tables}}
\subsubsection[{acceleration\-\_\-variance\-\_\-threshold}]{\setlength{\rightskip}{0pt plus 5cm}{\bf precision} {\bf acceleration\-\_\-variance\-\_\-threshold} = 0.\-002}}
\label{group__tables_gad5049be4d6ed3b9f92063c6ca6413b46}


\-Threshold used to check that accelerometers were stationary during the calibration \mbox{[} $(m/s^2)^2$\mbox{]}. 

\hypertarget{group__tables_gaf92cab44915b7d9faaf5aeadb328bae6}{
\index{\-System tables@{\-System tables}!accelerations\-\_\-in@{accelerations\-\_\-in}}
\index{accelerations\-\_\-in@{accelerations\-\_\-in}!System tables@{\-System tables}}
\subsubsection[{accelerations\-\_\-in}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf accelerations\-\_\-in}}}
\label{group__tables_gaf92cab44915b7d9faaf5aeadb328bae6}


$[m/s^2]$ 

\hypertarget{group__tables_ga1089eea940f41eff26a6cba1172089e9}{
\index{\-System tables@{\-System tables}!accelerometer\-\_\-biases@{accelerometer\-\_\-biases}}
\index{accelerometer\-\_\-biases@{accelerometer\-\_\-biases}!System tables@{\-System tables}}
\subsubsection[{accelerometer\-\_\-biases}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf accelerometer\-\_\-biases}}}
\label{group__tables_ga1089eea940f41eff26a6cba1172089e9}


\-Accelerometer biases (x,y,z-\/axis) \mbox{[} $m/s^2$\mbox{]}. 

\hypertarget{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}{
\index{\-System tables@{\-System tables}!angular\-\_\-rates\-\_\-in@{angular\-\_\-rates\-\_\-in}}
\index{angular\-\_\-rates\-\_\-in@{angular\-\_\-rates\-\_\-in}!System tables@{\-System tables}}
\subsubsection[{angular\-\_\-rates\-\_\-in}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf angular\-\_\-rates\-\_\-in}}}
\label{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}


$[rad/s]$ 

\hypertarget{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}{
\index{\-System tables@{\-System tables}!angular\-\_\-rates\-\_\-in@{angular\-\_\-rates\-\_\-in}}
\index{angular\-\_\-rates\-\_\-in@{angular\-\_\-rates\-\_\-in}!System tables@{\-System tables}}
\subsubsection[{angular\-\_\-rates\-\_\-in}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf angular\-\_\-rates\-\_\-in}}}
\label{group__tables_ga8cac4b2812dcb492989d7122c5eb0bfb}


$[rad/s]$ 

\-Angular rates read from the \-I\-M\-U \mbox{[} $rad/s$\mbox{]}. \-These are written into the \-I\-M\-U data buffer. \hypertarget{group__tables_ga74c09cdfc5b901e7f842dbe42ed8f4f4}{
\index{\-System tables@{\-System tables}!cov\-\_\-vector@{cov\-\_\-vector}}
\index{cov\-\_\-vector@{cov\-\_\-vector}!System tables@{\-System tables}}
\subsubsection[{cov\-\_\-vector}]{\setlength{\rightskip}{0pt plus 5cm}{\bf mat9sym} {\bf cov\-\_\-vector}}}
\label{group__tables_ga74c09cdfc5b901e7f842dbe42ed8f4f4}


\-Vector representation of the \-Kalman filter covariance matrix. 

\hypertarget{group__tables_gab0d228e3d6f56666fb9d9bf0f25f8d7b}{
\index{\-System tables@{\-System tables}!func\-\_\-p@{func\-\_\-p}}
\index{func\-\_\-p@{func\-\_\-p}!System tables@{\-System tables}}
\subsubsection[{func\-\_\-p}]{\setlength{\rightskip}{0pt plus 5cm}void($\ast$ {\bf proc\-\_\-func\-\_\-info\-::func\-\_\-p})(void)}}
\label{group__tables_gab0d228e3d6f56666fb9d9bf0f25f8d7b}
\hypertarget{group__tables_ga133713acbe60983f171f71e2d81fae3f}{
\index{\-System tables@{\-System tables}!id@{id}}
\index{id@{id}!System tables@{\-System tables}}
\subsubsection[{id}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t {\bf proc\-\_\-func\-\_\-info\-::id}}}
\label{group__tables_ga133713acbe60983f171f71e2d81fae3f}
\hypertarget{group__tables_ga3f561003deb253bcc716a6c690c87cfe}{
\index{\-System tables@{\-System tables}!imu\-\_\-supply\-\_\-voltage@{imu\-\_\-supply\-\_\-voltage}}
\index{imu\-\_\-supply\-\_\-voltage@{imu\-\_\-supply\-\_\-voltage}!System tables@{\-System tables}}
\subsubsection[{imu\-\_\-supply\-\_\-voltage}]{\setlength{\rightskip}{0pt plus 5cm}{\bf precision} {\bf imu\-\_\-supply\-\_\-voltage}}}
\label{group__tables_ga3f561003deb253bcc716a6c690c87cfe}


$[V]$ 

\hypertarget{group__tables_ga3f561003deb253bcc716a6c690c87cfe}{
\index{\-System tables@{\-System tables}!imu\-\_\-supply\-\_\-voltage@{imu\-\_\-supply\-\_\-voltage}}
\index{imu\-\_\-supply\-\_\-voltage@{imu\-\_\-supply\-\_\-voltage}!System tables@{\-System tables}}
\subsubsection[{imu\-\_\-supply\-\_\-voltage}]{\setlength{\rightskip}{0pt plus 5cm}{\bf precision} {\bf imu\-\_\-supply\-\_\-voltage}}}
\label{group__tables_ga3f561003deb253bcc716a6c690c87cfe}


$[V]$ 

\hypertarget{group__tables_gacd438fa96131e9024d8ad206d83ffb66}{
\index{\-System tables@{\-System tables}!imu\-\_\-temperaturs@{imu\-\_\-temperaturs}}
\index{imu\-\_\-temperaturs@{imu\-\_\-temperaturs}!System tables@{\-System tables}}
\subsubsection[{imu\-\_\-temperaturs}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf imu\-\_\-temperaturs}}}
\label{group__tables_gacd438fa96131e9024d8ad206d83ffb66}


$[^circ C]$ 

\hypertarget{group__tables_gacd438fa96131e9024d8ad206d83ffb66}{
\index{\-System tables@{\-System tables}!imu\-\_\-temperaturs@{imu\-\_\-temperaturs}}
\index{imu\-\_\-temperaturs@{imu\-\_\-temperaturs}!System tables@{\-System tables}}
\subsubsection[{imu\-\_\-temperaturs}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf imu\-\_\-temperaturs}}}
\label{group__tables_gacd438fa96131e9024d8ad206d83ffb66}


$[^circ C]$ 

\hypertarget{group__tables_gac1df051c6f380aa8d1598b15ee9e6eca}{
\index{\-System tables@{\-System tables}!kalman\-\_\-gain@{kalman\-\_\-gain}}
\index{kalman\-\_\-gain@{kalman\-\_\-gain}!System tables@{\-System tables}}
\subsubsection[{kalman\-\_\-gain}]{\setlength{\rightskip}{0pt plus 5cm}{\bf mat9by3} {\bf kalman\-\_\-gain}}}
\label{group__tables_gac1df051c6f380aa8d1598b15ee9e6eca}


\-Vector representation of the \-Kalman filter gain matrix. 

\hypertarget{group__tables_ga128ad5d7538eef603b5f0dab9c42174b}{
\index{\-System tables@{\-System tables}!max\-\_\-proc\-\_\-time@{max\-\_\-proc\-\_\-time}}
\index{max\-\_\-proc\-\_\-time@{max\-\_\-proc\-\_\-time}!System tables@{\-System tables}}
\subsubsection[{max\-\_\-proc\-\_\-time}]{\setlength{\rightskip}{0pt plus 5cm}int {\bf proc\-\_\-func\-\_\-info\-::max\-\_\-proc\-\_\-time}}}
\label{group__tables_ga128ad5d7538eef603b5f0dab9c42174b}
\hypertarget{group__tables_ga9340627920ea2445fe1469547bc64eae}{
\index{\-System tables@{\-System tables}!new\-\_\-orientation\-\_\-flag@{new\-\_\-orientation\-\_\-flag}}
\index{new\-\_\-orientation\-\_\-flag@{new\-\_\-orientation\-\_\-flag}!System tables@{\-System tables}}
\subsubsection[{new\-\_\-orientation\-\_\-flag}]{\setlength{\rightskip}{0pt plus 5cm}\-Bool {\bf new\-\_\-orientation\-\_\-flag} = false}}
\label{group__tables_ga9340627920ea2445fe1469547bc64eae}


\-Flag that is set to true when the \-I\-M\-U should be place in a new orientation. \-Should be set to false when the calibration procedure is started, and when the \-I\-M\-U has been placed in a new orientation by the user. 

\hypertarget{group__tables_ga642a3ad33a0242f4e12fe46a13b0303f}{
\index{\-System tables@{\-System tables}!nr\-\_\-of\-\_\-calibration\-\_\-orientations@{nr\-\_\-of\-\_\-calibration\-\_\-orientations}}
\index{nr\-\_\-of\-\_\-calibration\-\_\-orientations@{nr\-\_\-of\-\_\-calibration\-\_\-orientations}!System tables@{\-System tables}}
\subsubsection[{nr\-\_\-of\-\_\-calibration\-\_\-orientations}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t {\bf nr\-\_\-of\-\_\-calibration\-\_\-orientations} = 6}}
\label{group__tables_ga642a3ad33a0242f4e12fe46a13b0303f}


\-Number of orientations used in the accelerometer calibration procedure. \-O\-B\-S! \-Most be at least 3 and less than 13. 

\hypertarget{group__tables_gab9d05ce5927a225127eff6993856da19}{
\index{\-System tables@{\-System tables}!nr\-\_\-of\-\_\-calibration\-\_\-samples@{nr\-\_\-of\-\_\-calibration\-\_\-samples}}
\index{nr\-\_\-of\-\_\-calibration\-\_\-samples@{nr\-\_\-of\-\_\-calibration\-\_\-samples}!System tables@{\-System tables}}
\subsubsection[{nr\-\_\-of\-\_\-calibration\-\_\-samples}]{\setlength{\rightskip}{0pt plus 5cm}uint32\-\_\-t {\bf nr\-\_\-of\-\_\-calibration\-\_\-samples} = 800}}
\label{group__tables_gab9d05ce5927a225127eff6993856da19}


\-Number of samples used at each orientation in the calibration procedure. 

\hypertarget{group__tables_ga2807b9fb4b79e01dfde022b613d2575f}{
\index{\-System tables@{\-System tables}!position@{position}}
\index{position@{position}!System tables@{\-System tables}}
\subsubsection[{position}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf position}}}
\label{group__tables_ga2807b9fb4b79e01dfde022b613d2575f}


\-Position estimate (\-North,\-East,\-Down) \mbox{[} $m$\mbox{]}. 

\hypertarget{group__tables_ga69242006691a47df6ea85e8cc45ccc43}{
\index{\-System tables@{\-System tables}!process\-\_\-cycle\-\_\-counter@{process\-\_\-cycle\-\_\-counter}}
\index{process\-\_\-cycle\-\_\-counter@{process\-\_\-cycle\-\_\-counter}!System tables@{\-System tables}}
\subsubsection[{process\-\_\-cycle\-\_\-counter}]{\setlength{\rightskip}{0pt plus 5cm}uint32\-\_\-t {\bf process\-\_\-cycle\-\_\-counter}}}
\label{group__tables_ga69242006691a47df6ea85e8cc45ccc43}
\hypertarget{group__tables_ga41846acfd74bdde84b592227e9875931}{
\index{\-System tables@{\-System tables}!processing\-\_\-functions@{processing\-\_\-functions}}
\index{processing\-\_\-functions@{processing\-\_\-functions}!System tables@{\-System tables}}
\subsubsection[{processing\-\_\-functions}]{\setlength{\rightskip}{0pt plus 5cm}const {\bf proc\-\_\-func\-\_\-info}$\ast$ {\bf processing\-\_\-functions}\mbox{[}$\,$\mbox{]}}}
\label{group__tables_ga41846acfd74bdde84b592227e9875931}
{\bfseries \-Initial value\-:}
\begin{DoxyCode}
 {&update_imu_data_buffers_info,
                                                                                                        
         &initialize_navigation_algorithm_info,
                                                                                                        
         &strapdown_mechanisation_equations_info,
                                                                                                        
         &time_up_data_info,
                                                                                                        
         &ZUPT_detector_info,
                                                                                                        
         &zupt_update_info,
                                                                                                        
         &precision_gyro_bias_null_calibration_info,
                                                                                                        
         &calibrate_accelerometers_info}
\end{DoxyCode}
\hypertarget{group__tables_ga059b83d370e7e6a5e9728a8f91943051}{
\index{\-System tables@{\-System tables}!quaternions@{quaternions}}
\index{quaternions@{quaternions}!System tables@{\-System tables}}
\subsubsection[{quaternions}]{\setlength{\rightskip}{0pt plus 5cm}{\bf quat\-\_\-vec} {\bf quaternions}}}
\label{group__tables_ga059b83d370e7e6a5e9728a8f91943051}


\-Attitude (quaternions) estimate. 

\hypertarget{group__tables_ga059b83d370e7e6a5e9728a8f91943051}{
\index{\-System tables@{\-System tables}!quaternions@{quaternions}}
\index{quaternions@{quaternions}!System tables@{\-System tables}}
\subsubsection[{quaternions}]{\setlength{\rightskip}{0pt plus 5cm}{\bf quat\-\_\-vec} {\bf quaternions}}}
\label{group__tables_ga059b83d370e7e6a5e9728a8f91943051}


\-Attitude (quaternions) estimate. 

\hypertarget{group__tables_ga42753cbc9ae76483da3cbc331a011586}{
\index{\-System tables@{\-System tables}!\-Rb2t@{\-Rb2t}}
\index{\-Rb2t@{\-Rb2t}!System tables@{\-System tables}}
\subsubsection[{\-Rb2t}]{\setlength{\rightskip}{0pt plus 5cm}{\bf mat3} {\bf \-Rb2t}}}
\label{group__tables_ga42753cbc9ae76483da3cbc331a011586}


\-Rotation matrix used as an \char`\"{}aiding\char`\"{} variable in the filter algorithm. \-Holds the same information as the quaternions. 

\hypertarget{group__tables_ga20193da701b182264e8b7bf63293c0f9}{
\index{\-System tables@{\-System tables}!time\-\_\-since\-\_\-last\-\_\-zupt@{time\-\_\-since\-\_\-last\-\_\-zupt}}
\index{time\-\_\-since\-\_\-last\-\_\-zupt@{time\-\_\-since\-\_\-last\-\_\-zupt}!System tables@{\-System tables}}
\subsubsection[{time\-\_\-since\-\_\-last\-\_\-zupt}]{\setlength{\rightskip}{0pt plus 5cm}int {\bf time\-\_\-since\-\_\-last\-\_\-zupt}}}
\label{group__tables_ga20193da701b182264e8b7bf63293c0f9}
\hypertarget{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}{
\index{\-System tables@{\-System tables}!velocity@{velocity}}
\index{velocity@{velocity}!System tables@{\-System tables}}
\subsubsection[{velocity}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf velocity}}}
\label{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}


\-Velocity estimate (\-North,\-East,\-Down) \mbox{[} $m/s$\mbox{]}. 

\hypertarget{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}{
\index{\-System tables@{\-System tables}!velocity@{velocity}}
\index{velocity@{velocity}!System tables@{\-System tables}}
\subsubsection[{velocity}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vec3} {\bf velocity}}}
\label{group__tables_ga589efe00d8bd4e8a69613f98390a04c7}


\-Velocity estimate (\-North,\-East,\-Down) \mbox{[} $m/s$\mbox{]}. 

\hypertarget{group__tables_ga1c7df51cd44a9862d56e5a86a7382fe2}{
\index{\-System tables@{\-System tables}!window\-\_\-size@{window\-\_\-size}}
\index{window\-\_\-size@{window\-\_\-size}!System tables@{\-System tables}}
\subsubsection[{window\-\_\-size}]{\setlength{\rightskip}{0pt plus 5cm}int {\bf window\-\_\-size}}}
\label{group__tables_ga1c7df51cd44a9862d56e5a86a7382fe2}
\hypertarget{group__tables_gabd51dc1d49060099533807a22acc61d4}{
\index{\-System tables@{\-System tables}!zupt@{zupt}}
\index{zupt@{zupt}!System tables@{\-System tables}}
\subsubsection[{zupt}]{\setlength{\rightskip}{0pt plus 5cm}bool {\bf zupt}}}
\label{group__tables_gabd51dc1d49060099533807a22acc61d4}


\-Flag that is set to true if a zero-\/velocity update should be done. 

